Abstract
The paper discusses the possibilities of using particle filter estimation algorithms in embedded systems. For this purpose, the dedicated testing platform was built, which allowed for the determination of the estimation quality of a particle filter on a real system, and the microcontroller performance in that scenario. Tests were performed using the obsolete and not very efficient, although energy-saving, STM32F4 Discovery board—it has allowed for an in-depth analysis, and the results can be easily improved by switching to a modern platform. The quality of operations in open- and closed-loop systems was investigated based on the analysis of time simulations conducted for various mathematical models. These analyses made it possible to establish a correlation between the number of particles and the required calculation power. They have shown that it is possible to successfully implement and run a particle filter algorithm on an older and computationally limited device, as well as in real-time scenarios.
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